CN114311683B - Method for 3D printer and 3D printer - Google Patents
Method for 3D printer and 3D printer Download PDFInfo
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- CN114311683B CN114311683B CN202111681976.6A CN202111681976A CN114311683B CN 114311683 B CN114311683 B CN 114311683B CN 202111681976 A CN202111681976 A CN 202111681976A CN 114311683 B CN114311683 B CN 114311683B
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000001133 acceleration Effects 0.000 claims abstract description 64
- 238000007639 printing Methods 0.000 claims abstract description 54
- 230000035945 sensitivity Effects 0.000 claims abstract description 27
- 238000005070 sampling Methods 0.000 claims description 18
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 3
- 235000006629 Prosopis spicigera Nutrition 0.000 claims 1
- 240000000037 Prosopis spicigera Species 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 10
- 238000004590 computer program Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 239000000919 ceramic Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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Abstract
The disclosure provides a method for a 3D printer and the 3D printer. The 3D printer includes: a print platform including a print plane for carrying a print object, and N pressure sensors, each of the N pressure sensors configured to generate a sensing signal indicative of a force applied to the print plane, N being a positive integer greater than or equal to 1. The method comprises the following steps: controlling the printing platform to move along the Z axis of the 3D printer according to a preset motion rule; determining an acceleration signal from a predetermined law of motion, the acceleration signal being indicative of an acceleration of the printing platform during motion; acquiring corresponding sensing signals output by the N pressure sensors during the movement of the printing platform; and determining the sensitivity of each of the N pressure sensors based on the acceleration signal, the respective sensing signal, the mass of the print platform, and the respective positions of the N pressure sensors relative to the centroid of the print platform. The method can quickly realize the calibration of the pressure sensor and is simple to operate.
Description
Technical Field
The present disclosure relates to the field of 3D printing technology, and in particular to a method for a 3D printer, a computer readable storage medium and a computer program product.
Background
3D printers (also known as three-dimensional printers, stereoscopic printers) construct three-dimensional objects by printing layer by layer. The 3D printer includes a print head for extruding the printing material and a print stage for depositing the printing material to form a three-dimensional object. The print head is configured to be movable relative to the print platform and to squeeze printing material out on a surface of the print platform while moving. The printing material is deposited layer by layer on the surface of the printing platform and fused together to print out the three-dimensional object.
In the related art, a pressure sensor is further provided on the 3D printer, and the pressure sensor may be used to sense pressure applied to the surface of the printing platform, for example, to detect whether the printing platform is level. In order to ensure the accuracy of the detection result, the pressure sensor needs to be calibrated.
However, the calibration method of the pressure sensor in the related art is complicated to operate.
The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been recognized in any prior art unless otherwise indicated.
Disclosure of Invention
Embodiments of the present disclosure provide a method for a 3D printer, a computer readable storage medium, and a computer program product.
According to an aspect of the present disclosure, there is provided a method for a 3D printer, the 3D printer comprising: a print platform including a print plane for carrying a print object, and N pressure sensors, each of the N pressure sensors configured to generate a sensing signal indicative of a force applied to the print plane, N being a positive integer greater than or equal to 1, the method comprising: controlling the printing platform to move along the Z axis of the 3D printer according to a preset motion rule; determining an acceleration signal from a predetermined law of motion, the acceleration signal being indicative of an acceleration of the printing platform during motion; acquiring corresponding sensing signals output by the N pressure sensors during the movement of the printing platform; and determining the sensitivity of each of the N pressure sensors based on the acceleration signal, the respective sensing signal, the mass of the print platform, and the respective positions of the N pressure sensors relative to the centroid of the print platform.
According to another aspect of the present disclosure, there is provided a 3D printer including: the printing platform comprises a printing plane for bearing a printing object; n pressure sensors, each of the N pressure sensors configured to generate a sensing signal indicative of a force applied to the print plane, N being a positive integer greater than or equal to 1; and a processor configured to execute the instructions to implement the method as described above.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions, when executed by a processor of a 3D printer as described above, cause the 3D printer to implement a method as described above.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a 3D printer as described above, causes the 3D printer to implement a method according to the above.
According to the method for the 3D printer, the computer readable storage medium and the computer program product provided by the embodiment of the disclosure, the calibration of the pressure sensor can be realized quickly, and the operation is simple.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not to be considered limiting of its scope.
FIG. 1 shows a block diagram of a 3D printer according to an embodiment of the present disclosure;
FIG. 2 shows a flowchart of a method for a 3D printer, according to an embodiment of the present disclosure;
FIG. 3 is a flow chart illustrating a method of determining the sensitivity of each of the N pressure sensors of FIG. 2;
fig. 4 shows a flowchart of a method for a 3D printer according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the present disclosure, the use of the terms "first," "second," and the like to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of the elements, unless otherwise indicated, and such terms are merely used to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, they may also refer to different instances based on the description of the context.
The terminology used in the description of the various illustrated examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, the elements may be one or more if the number of the elements is not specifically limited. Furthermore, the term "and/or" as used in this disclosure encompasses any and all possible combinations of the listed items.
For 3D printers, to achieve leveling of the printing platform, the printing platform may be provided with at least one pressure sensor, in an automatic leveling operation of the printing platform, the print head being controllable to move from a predetermined position towards the surface of the printing platform. When the print head contacts the print platform, the print head applies a force to the print platform. The force generated by this contact can be sensed by the pressure sensor and calculated from the output voltage of the pressure sensor.
In particular, the pressure to which the pressure sensor is actually subjected may be equal to the ratio of its output voltage to the sensitivity of the pressure sensor. If the sensitivity of the pressure sensor is in error, the pressure value calculated by the output voltage is inconsistent with the actual pressure value, and the accuracy of the detection result is directly affected. Therefore, the pressure sensor needs to be calibrated at the time of initial use or during routine maintenance.
In the related art, the calibration method of the pressure sensor comprises the following steps: a known force is applied to the pressure sensor, such as by placing a weight of known weight, to obtain a correspondence of the applied pressure to the output of the pressure sensor. However, this measurement method is cumbersome, and particularly, the operation is complicated for a user who uses a 3D printer.
In order to alleviate, mitigate or eliminate at least one of the above-mentioned problems, an embodiment of the present disclosure provides a method for a 3D printer and a 3D printer, which can quickly achieve calibration of a pressure sensor, and is simple to operate. Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
Fig. 1 illustrates a 3D printer 100 according to an embodiment of the present disclosure. Referring to fig. 1, the 3d printer 100 includes: a print platform 110 and N pressure sensors 130, the print platform 110 including a print plane 112 for carrying a print object, each of the N pressure sensors 130 being configured to generate a sensing signal indicative of a force applied to the print plane 112, N being a positive integer greater than or equal to 1. In the example of fig. 1, the pressure sensors 130 are shown as two.
In addition, 3D printer 100 also includes a printhead 120 positioned above print platform 110. The print head 120 is configured to be movable relative to the print platform 110, e.g., it can move in a horizontal plane. The print platform 110 defines a print plane 112. The printing material extruded from the print head 120 is deposited layer by layer on the print plane 112 defined by the print platform 110, thereby printing the three-dimensional object.
It is understood that the number of pressure sensors 130 may be at least one. At least one pressure sensor 130 is mounted to the print platform 110 and is configured to generate a sensing signal indicative of a force applied to the print plane 112.
The pressure sensor 130 may be any type of pressure sensor capable of generating the sensing signals described above. In one example, the pressure sensor 130 is a piezoceramic sensor. The force applied to the print plane 112 may cause a corresponding deformation of the piezoceramic sensor. The piezoceramic sensor is further capable of generating a sensing signal (e.g., a potential difference) indicative of a force applied to the print plane 112 based on the amount of deformation. The piezoelectric ceramic sensor has low cost and high measurement reliability. The piezoelectric ceramic pressure sensor is at least beneficial to reducing cost and improving reliability.
The pressure sensor 130 may be mounted to the print platform 110 in any suitable manner so long as the force applied to the print plane 112 is sensed. In some embodiments, pressure sensor 130 is mounted to flexible cantilever structure 115 of print platform 110. Flexible cantilever structure 115 is configured to deform by a force applied to print plane 112. Mounting pressure sensor 130 by flexible cantilever structure 115 enables pressure sensor 130 to more sensitively and reliably sense the force applied to print plane 112.
The 3D printer 100 further includes a lifting mechanism 150. The lift mechanism 150 may be coupled to the flexible cantilever structure 115 and driven by a drive mechanism (e.g., a motor, not shown) to effect movement of the print plane 112 in the Z-axis (vertical direction in fig. 1). Thus, the lifting mechanism 150 may also be referred to as a "Z sled".
Further, the 3D printer 100 further includes a processor (not shown) for controlling a printing operation of the 3D printer 100. The processor may be integrated into the 3D printer 100. In another embodiment, the processor may be independent of the 3D printer 100 and communicate with the 3D printer 100 by wired or wireless means. The processor may be configured to control the lift mechanism 150 by controlling the drive mechanism such that the print plane 112 moves in the Z-axis direction. The processor may also be communicatively coupled to the pressure sensor 130 to obtain a sensing signal of the pressure sensor 130.
Fig. 2 shows a flowchart of a method 200 for a 3D printer according to an embodiment of the present disclosure. Referring to fig. 2, the method 200 includes steps S210 to S240. For ease of description, the method 200 will be described below in connection with the 3D printer 100 of fig. 1.
In step S210, the printing platform 110 is controlled to move along the Z axis of the 3D printer 100 with a predetermined movement law.
In step S220, an acceleration signal is determined from a predetermined law of motion, the acceleration signal indicating an acceleration of the printing platform 110 during the motion.
In step S230, the respective sensing signals output by the N pressure sensors 130 during the movement of the printing platform 110 are acquired.
In step S240, the sensitivity of each of the N pressure sensors 130 is determined based on the acceleration signal, the corresponding sensing signal, the mass of the print platform 110, and the corresponding positions of the N pressure sensors 130 relative to the centroid of the print platform 110.
Movement of the print platform 110 along the Z-axis may be achieved by movement of the lift mechanism 150. The elevating mechanism 150 may be driven by a driving mechanism such as a motor. The processor may control the displacement of the print platform 110 along the Z-axis by controlling the output of the motor. The predetermined motion law may be a time-dependent law of displacement of the printing platform 110.
In step S220, the acceleration signal may be a continuous signal with respect to time or may be a discrete sequence with respect to time. For example, in some embodiments, the law of change of acceleration over time, i.e., the continuous signal, may be obtained by a second differentiation of a predetermined law of motion. In other embodiments, the processor may execute a G-code that specifies a series of position coordinates of the print platform 110 over a predetermined law of motion, and second order differencing the discrete series of position coordinates may result in a discrete series of acceleration changes over time.
In step S230, the sensing signal may be an electrical signal output by the pressure sensor 130, such as a voltage signal or a current signal.
It will be appreciated that the resultant force (i.e., inertial force) experienced by the print platform 110 during motion may be obtained from the acceleration signal. The resultant force may be considered to be applied to the centroid position of the print platform 110. The actual pressure experienced by each pressure sensor 130 may be derived based on a force analysis based on the respective location of each pressure sensor 130 relative to the center of mass of the print platform 110, i.e., the horizontal distance of each pressure sensor 130 from the center of mass, respectively. Taking the sensing signal as a voltage signal for example, the sensitivity of each pressure sensor 130 can be obtained by the ratio of the sensing signal of the pressure sensor 130 to the actual pressure to which it is subjected.
The embodiment provides a method for a 3D printer, which can automatically calculate the sensitivity of a pressure sensor, does not need a user to apply weights for measurement, is simple to operate and has high speed.
It will be appreciated that the order of step S220 and step S230 may be interchanged, or may be performed simultaneously, and the present embodiment is not limited thereto.
Fig. 3 shows a flow chart of the method of fig. 2 for determining the sensitivity of each of the N pressure sensors. Referring to fig. 3, in some embodiments, the method for determining the sensitivities of the N pressure sensors 130 in step S240 specifically includes: step S310 and step S320.
In step S310, respective reaction forces generated at the N pressure sensors 130 by inertial forces experienced by the print platform 110 during movement are determined based on the acceleration signal, the mass of the print platform 110, and the respective positions of the N pressure sensors 130 relative to the centroid of the print platform 110.
In step S320, the sensitivity of each of the N pressure sensors 130 is determined based on the corresponding reaction force and the corresponding sensing signal.
Referring back to fig. 1, when the calibration of the pressure sensors 130 is performed, the printing platform 110 moves in an idle state along a predetermined movement rule, and an inertial force is generated during the movement, and the inertial force can be sensed by each pressure sensor 130. Taking the printing platform 110 provided with 2 pressure sensors 130 as an example, for convenience of explanation, the left pressure sensor 130 in fig. 1 is taken as a first sensor, and the right pressure sensor 130 is taken as a second sensor. The horizontal distance of the first sensor from the centroid is L 1 The horizontal distance of the second sensor from the centroid is L 2 The reaction force of the first sensor is F 1 The reaction force of the second sensor is F 2 The mass of the printing platform 110 is m, and the inertial force applied to the printing platform 110 in the moving process is F.
Where f=ma, a is an acceleration signal.
Based on the stress analysis, the following can be obtained:
sensitivity S of the first sensor 1 And sensitivity S of the second sensor 2 The method can be respectively as follows:
wherein V is 1 Is the sensing signal of the first sensor, V 2 The sensing signal is the sensing signal of the second sensor, and the sensing signal is a voltage signal.
It will be appreciated that the above only illustrates a sensitivity calculation method with two pressure sensors 130. If there are more pressure sensors 130, the pressure experienced by each pressure sensor 130 can still be obtained by force analysis and the sensitivity of the pressure sensor 130 calculated. The method is easy to implement and simple to operate.
In some embodiments, the predetermined law of motion may include a uniform acceleration motion. Since the all-acceleration motion has constant acceleration in theory, the detection and calculation can be convenient.
In some embodiments, when the predetermined motion law is uniform acceleration motion, determining the acceleration signal from the predetermined motion law in step S220 may include: the instantaneous acceleration of the printing platform 110 at one time during the movement or the average value of the instantaneous acceleration at a plurality of times is determined from a predetermined movement law as an acceleration signal.
The acquiring of the respective sensing signals output by the N pressure sensors during the movement of the printing platform 110 at step S230 may include: for each pressure sensor 130, a sampling value of the output signal of the pressure sensor 130 during the movement of the printing platform 110 at one time or an average value of sampling values at a plurality of times is acquired as a sensing signal of the pressure sensor 130.
The sensitivity of each pressure sensor 130 can be calculated by calculating the instantaneous acceleration at a certain time and the sampled value of the pressure sensor 130 at that time, or calculating the average of the instantaneous acceleration at a plurality of times and the sampled value.
In other embodiments, the predetermined motion profile may include a reciprocating motion. It will be appreciated that during actual movement, a relatively long sampling time is required to obtain a stable output from the pressure sensor 130 due to the flexibility of the movement mechanism, vibration, sensor noise, etc. If the uniform acceleration motion is adopted, the linear velocity of the printing platform 110 is relatively high after a long sampling time. For example, if the z-axis sled is at 1m/s 2 The printing platform 110 needs to accelerate to 1m/s at the end of sampling, if the acceleration is 1 second. This speed of movement may require higher costs (e.g., a more powerful motor, a longer stroke Z-axis, etc.) for a 3D printer to achieve. The reciprocating motion can make the printing platform 110 reciprocate within a certain displacement range, so that the limitation of the machine size can be eliminated, and the linear speed can be limited within a certain range, thereby reducing the required machine cost and helping to calculate the sensitivity of the pressure sensor 130.
Fig. 4 shows a flowchart of a method 400 for a 3D printer according to an embodiment of the present disclosure. Referring to fig. 4, in some embodiments, when the predetermined motion law is reciprocating, the method 400 may include: step S410 to step S480.
In step S410, the printing platform 110 is controlled to move along the Z axis of the 3D printer with a predetermined motion law.
In step S420, a discrete time series a (k) of accelerations of the printing platform 110 during movement is determined from a predetermined law of movement.
In step S430, the discrete time series a (k) is fourier transformed to obtain a transformed acceleration data series a' (n).
In step S440, an acceleration data item having a predetermined sequence number is selected from the transformed acceleration data sequence a' (n) for calculating an acceleration signal.
In step S450, a discrete time series { v } of sample values of the respective output signals of the N pressure sensors 130 during the movement of the printing platform 110 is acquired j (k)},j＝1,2,…,N。
In step S460, for each discrete time series { v } j (k) Fourier transforming to obtain a transformed sensing data sequence { V' j (n)}。
In step S470, a data sequence { V 'is sensed from each transformed' j (N) } selecting a sensing data item having a predetermined sequence number for calculating a corresponding sensing signal, wherein k is a sampling value sequence number and k=0, 1,2, …, (t×fs), T is a sampling period, fs is a sampling frequency, N is a fourier transform value sequence number and n=0, 1,2, …, (t×fs), j is a sequence number of each of the N pressure sensors 130.
In step S480, the sensitivity of each of the N pressure sensors 130 is determined based on the acceleration signal, the corresponding sensing signal, the mass of the print platform 110, and the corresponding positions of the N pressure sensors 130 relative to the centroid of the print platform 110.
Step S410 and step S480 are the same as step S210 and step S240, respectively, and specific reference is made to the description of the above embodiments. While steps S420 to S440 may be specific implementations of step S220, steps S450 to S470 may be specific implementations of step S230. The processor may periodically output a control signal for motion control of the print platform 110, and fs may be a control frequency for motion control by the processor and a sampling frequency of the pressure sensor 130.
Wherein the acceleration signal may be represented by a discrete time series a (k), while the output signal of the pressure sensor 130 may also be represented by a discrete time series { v } of sample values j (k) Represented by, i.e., a discrete time series of sampled values v sampled at a sampling frequency fs for each pressure sensor 130 j (k)}。
Referring back to fig. 1, taking the first sensor and the second sensor as examples, the acceleration signal may be represented as a discrete time series a (k). At the same time, the sampling of the first sensor may be obtained by samplingDiscrete time series v of values 1 (k) And a discrete time series v of discrete time series samples of the second sensor 2 (k)。
The discrete time sequence a (k) may then be fourier transformed to obtain a transformed acceleration data sequence a' (n). And for discrete time series v 1 (k) And v 2 (k) Fourier transforming to obtain transformed sensing data sequences V 'respectively' 1 (n) and V' 2 (n)。
It will be appreciated that after fourier transformation, the discrete time sequences a (k), v can be processed 1 (k) V 2 (k) Sequences A ' (n), V ' respectively denoted as sequence numbers n ' 1 (n)、V′ 2 (n), each n corresponding data item may represent a frequency component. By selecting a predetermined sequence number c corresponding to the 3D printer, the sensitivity of the pressure sensor 130 can be calculated, and c can be the frequency of the predetermined law of motion.
In some embodiments, calculating the modulus |a '(c) | of the acceleration data item having the predetermined sequence number c in the sequence a' (n) as the acceleration signal, and calculating the corresponding sense signal includes: calculating corresponding modulus |V 'of each sensing data item with predetermined sequence number c' j (c) I as the corresponding sense signal.
After a predetermined sequence number c is selected, a (k) and v after Fourier transformation 1 (k) V 2 (k) Can be expressed as a ' (c) and V ' in plural forms respectively ' 1 (c)、V′ 2 (c)。
A'(c)＝R+i*I
V' 1 (c)＝R 1 +i*I 1
V' 2 (c)＝R 2 +i*I 2
And A '(c), V' 1 (c)、V′ 2 (C) The corresponding modulus values are respectively:
and the sensitivity of the first sensor and the second sensor can be obtained:
it can be understood that the noise and other effects may cause the acceleration signal and the sensing signal to have noise, and if only the acceleration signal and the sensing signal at a certain point are collected, the sensitivity error obtained by calculation may be great. After Fourier transformation, all data points in the whole sampling time can be used as the basis for calculating the sensitivity, so that the influence of noise on the accuracy of a calculation result can be reduced. Moreover, the accuracy of sensitivity calibration can be further improved by comprehensively calculating a plurality of data points.
In some embodiments, the reciprocating motion is of frequency F 0 The simple harmonic motion of hertz, the acceleration data item with the preset sequence number is A' (F) 0 * T), and each of the sensing data items having a predetermined sequence number is { V' j (F 0 *T)}。
The change law of the displacement of the simple harmonic motion along with time can be a sine function law or a cosine function law. Taking a sine function as an example, the discrete time sequence of accelerations a (k) can be expressed as:
wherein A is the maximum of the reciprocating motionAmplitude values. And the predetermined sequence number c=f in step S440 and step S470 0 * T, simple harmonic motion rule is simple, and sensitivity is calculated more easily.
The embodiment also provides a 3D printer, including: a print platform 110, a processor, and N pressure sensors 130, the print platform 110 including a print plane 112 for carrying a print object; each of the N pressure sensors 130 is configured to generate a sensing signal indicative of a force applied to the print plane 112, N being a positive integer greater than or equal to 1; the processor is configured to execute instructions to implement the method for a 3D printer described above.
The structure and function of the printing platform 110, the processor, and the N pressure sensors 130 may refer to the above embodiments, and will not be described herein.
The present embodiment also provides a non-transitory computer-readable storage medium storing computer instructions that, when executed by a processor of a 3D printer, cause the 3D printer to implement the above-described method for a 3D printer.
The present embodiment also provides a computer program product comprising a computer program, wherein the computer program, when executed by a processor of a 3D printer, causes the 3D printer to implement the above-described method for a 3D printer.
It should be understood that in this specification, terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., refer to an orientation or positional relationship or dimension based on that shown in the drawings, which are used for convenience of description only, and do not indicate or imply that the device or element referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the scope of protection of the present disclosure.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present disclosure, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
In this disclosure, unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
The specification provides many different embodiments or examples that can be used to implement the present disclosure. It should be understood that these various embodiments or examples are purely illustrative and are not intended to limit the scope of the disclosure in any way. Various changes and substitutions will occur to those skilled in the art based on the disclosure of the specification and these are intended to be included within the scope of the present disclosure. Accordingly, the scope of the present disclosure should be determined by the following claims.
Claims (8)
1. A method for a 3D printer, the 3D printer comprising: a print platform including a print plane for carrying a print object, and N pressure sensors, each of the N pressure sensors configured to generate a sensing signal indicative of a force applied to the print plane, N being a positive integer greater than or equal to 1, the method comprising:
controlling the printing platform to move along the Z axis of the 3D printer according to a preset motion rule;
determining an acceleration signal from the predetermined law of motion, the acceleration signal being indicative of an acceleration of the printing platform during motion;
acquiring corresponding sensing signals output by the N pressure sensors during the movement of the printing platform; and
determining respective sensitivities of the N pressure sensors based on the acceleration signals, the respective sense signals, the mass of the print platform, and the respective positions of the N pressure sensors relative to a centroid of the print platform, wherein the determining the respective sensitivities of the N pressure sensors comprises:
determining respective reaction forces generated at the N pressure sensors by inertial forces experienced by the printing platform during movement based on the acceleration signal, the mass of the printing platform, and respective positions of the N pressure sensors relative to a centroid of the printing platform; and
the sensitivity of each of the N pressure sensors is determined based on the respective reaction forces and the respective sense signals.
2. The method of claim 1, wherein the predetermined law of motion comprises a uniform acceleration motion or a reciprocating motion.
3. The method of claim 2, wherein the predetermined law of motion is a uniform acceleration motion,
wherein said determining an acceleration signal from said predetermined law of motion comprises: determining from the predetermined law of motion an instantaneous acceleration of the printing platform at one instant or an average of instantaneous accelerations at a plurality of instants during the motion as the acceleration signal, and
wherein the acquiring the respective sensing signals output by the N pressure sensors during the movement of the printing platform comprises: for each pressure sensor, a sampling value of an output signal of the pressure sensor at the moment or an average value of sampling values at the moments during the movement of the printing platform is obtained as a sensing signal of the pressure sensor.
4. The method of claim 2, wherein the predetermined law of motion is reciprocating,
wherein said determining an acceleration signal from said predetermined law of motion comprises:
determining a discrete time sequence of acceleration of the printing platform during motion from the predetermined law of motion；
For the discrete time sequenceFourier transforming to obtain a transformed acceleration data sequence +.>The method comprises the steps of carrying out a first treatment on the surface of the And
from the transformed acceleration data sequenceIs used to calculate the acceleration signal, and
wherein the acquiring the respective sensing signals output by the N pressure sensors during the movement of the printing platform comprises:
acquiring discrete time series of sampling values of respective output signals of the N pressure sensors during movement of the printing platform；
For each of the discrete time sequencesPerforming fourier transform to obtain a transformed sensing data sequence +.>The method comprises the steps of carrying out a first treatment on the surface of the And
from each of the transformed sensed data sequencesThe sensing data item having said predetermined sequence number is selected for calculating said corresponding sensing signal,
wherein,kis the sampling value sequence number，TFor the duration of the sampling period,fsfor the sampling frequency +.>Is the Fourier transform value sequence number and->，jAnd the serial number of each pressure sensor in the N pressure sensors.
5. The method of claim 4, wherein the calculating the acceleration signal comprises: calculating a modulus value of the acceleration data item having the predetermined sequence number as the acceleration signal, and
wherein said calculating said respective sense signal comprises: and calculating a corresponding module value of each sensing data item with the preset sequence number as the corresponding sensing signal.
6. The method of claim 4, wherein the reciprocating motion is of frequencyF 0 The simple harmonic motion of the hertz,
wherein the acceleration data item having the predetermined sequence number isAnd (2) and
wherein each of the sensing data items having the predetermined sequence number is。
7. A 3D printer, comprising:
a print platform comprising a print plane for carrying a printed object;
n pressure sensors, each of the N pressure sensors configured to generate a sensing signal indicative of a force applied to the print plane, N being a positive integer greater than or equal to 1; and
a processor configured to execute instructions to implement the method of any one of claims 1-6.
8. A non-transitory computer readable storage medium storing computer instructions which, when executed by a processor of the 3D printer of claim 7, cause the 3D printer to implement the method of any of claims 1-6.
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| CN202111681976.6A CN114311683B (en) | 2021-12-31 | 2021-12-31 | Method for 3D printer and 3D printer |
| PCT/CN2022/144244 WO2023125990A1 (en) | 2021-12-31 | 2022-12-30 | Method for 3d printer, and 3d printer |
| CN202280066564.8A CN118076474A (en) | 2021-12-31 | 2022-12-30 | Method for 3D printer and 3D printer |
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| CN117532884A (en) * | 2023-11-13 | 2024-02-09 | 深圳拓竹科技有限公司 | 3D printer, natural frequency measuring method and electronic equipment |
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| CN104535258A (en) * | 2015-01-05 | 2015-04-22 | 广州赛宝计量检测中心服务有限公司 | Automatic calibration device for dynamic force sensor |
| CN109397703A (en) * | 2018-10-29 | 2019-03-01 | 北京航空航天大学 | A kind of fault detection method and device |
| CN109895383A (en) * | 2018-11-01 | 2019-06-18 | 先临三维科技股份有限公司 | A kind of photocuring 3D printer and its method for automatically leveling |
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| US20150130100A1 (en) * | 2013-11-12 | 2015-05-14 | John D. Fiegener | Method and apparatus for leveling a three dimensional printing platform |
| US20160039148A1 (en) * | 2014-08-05 | 2016-02-11 | Delaware Capital Formation, Inc. | 3-d printer having motion sensors |
| CN105252770B (en) * | 2015-11-10 | 2018-04-03 | 珠海天威飞马打印耗材有限公司 | 3 D-printing method and three-dimensional printer |
| CN114311683B (en) * | 2021-12-31 | 2023-11-17 | 深圳拓竹科技有限公司 | Method for 3D printer and 3D printer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104535258A (en) * | 2015-01-05 | 2015-04-22 | 广州赛宝计量检测中心服务有限公司 | Automatic calibration device for dynamic force sensor |
| CN109397703A (en) * | 2018-10-29 | 2019-03-01 | 北京航空航天大学 | A kind of fault detection method and device |
| CN109895383A (en) * | 2018-11-01 | 2019-06-18 | 先临三维科技股份有限公司 | A kind of photocuring 3D printer and its method for automatically leveling |
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